针对现有人工势场法在遇到部分典型连续型障碍(U型、L型、一字型等)时, 容易陷入局部最小值且无法逃离的问题, 借鉴电势场的数学模型, 在现有的人工势场法中加入了模拟等势线的概念, 重新定义了典型连续型障碍物的斥力场函数, 提出了基于模拟等势线的改进人工势场法, 有效解决了逃离局部最小值的问题, 并将该方法应用于无人机的航迹规划。通过仿真实验验证了改进算法的合理性, 在保障人工势场法速度快、实现简单等优点的同时, 解决了人工势场法在无人机面对连续型障碍时规划航迹存在不可行的问题。

The existing artificial potential field method is prone to fall into local minimum and unable to escape from it when the UAV confronts some typical continuous obstacles (U-shaped, L-shaped, line-shaped, etc.).To solve the problem, the mathematical model of the electric potential field is used, and the concept of simulated equipotential line is added to the existing artificial potential field method.The repulsive force function of typical continuous obstacles is redefined, and an improved artificial potential field method based on the simulated equipotential line is presented.The method is able to escape from local minimum, and is then applied to the UAV's path planning.The rationality of the improved algorithm is verified by simulation experiments.While maintaining the advantages of high speed and simple implementation of the artificial potential field method, the problem of the UAV's path planning with the artificial potential field method when the UAV is faced with continuous obstacles is solved.